#

Junjie

21 小时以前 0c5a58771fcf86ad0b562829fbfa440da9392703

 src/main/java/com/zy/core/thread/impl/ZyRgvThread.java

@@ -1,15 +1,21 @@
package com.zy.core.thread.impl;

import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.Task;
@@ -24,14 +30,23 @@

import java.text.MessageFormat;
import java.util.Date;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.ThreadFactory;
import java.util.concurrent.TimeUnit;

@Data
@Slf4j
public class ZyRgvThread implements Runnable, RgvThread {

    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ZyRgvConnectDriver zyRgvConnectDriver;
    private RgvProtocol rgvProtocol;
    private int deviceLogCollectTime = 200;
    private volatile boolean closed = false;
    private ScheduledExecutorService readExecutor;
    private ScheduledExecutorService processExecutor;

    public ZyRgvThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
@@ -43,28 +58,53 @@
    public void run() {
        connect();
        initRgv();
        while (true) {
        readExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
            @Override
            public Thread newThread(Runnable r) {
                Thread t = new Thread(r);
                t.setName("RgvReader-" + deviceConfig.getDeviceNo());
                t.setDaemon(true);
                return t;
            }
        });
        readExecutor.scheduleAtFixedRate(() -> {
            if (closed || Thread.currentThread().isInterrupted()) {
                return;
            }
            try {
                deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                readStatus();
            } catch (Exception e) {
                log.error("RgvThread Fail", e);
            }
        }, 0, 200, TimeUnit.MILLISECONDS);

        processExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
            @Override
            public Thread newThread(Runnable r) {
                Thread t = new Thread(r);
                t.setName("RgvWriter-" + deviceConfig.getDeviceNo());
                t.setDaemon(true);
                return t;
            }
        });
        processExecutor.scheduleAtFixedRate(() -> {
            if (closed || Thread.currentThread().isInterrupted()) {
                return;
            }
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, deviceConfig.getDeviceNo());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    case 1:
                        readStatus();
                        break;
                    case 2:
                        sendCommand((RgvCommand) task.getData());
                        break;
                    default:
                        break;
                if (step == 2 && task != null) {
                    sendCommand((RgvCommand) task.getData());
                }
                Thread.sleep(200);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
        }, 0, 200, TimeUnit.MILLISECONDS);
    }

    private void initRgv() {
@@ -72,7 +112,7 @@
            rgvProtocol = new RgvProtocol();
            rgvProtocol.setRgvNo(deviceConfig.getDeviceNo());
        }
        rgvProtocol.setMode(-1);
        rgvProtocol.setMode(0);
        rgvProtocol.setTaskNo(0);
        rgvProtocol.setStatus(-1);
        rgvProtocol.setRgvPos(0);
@@ -82,9 +122,8 @@

    @Override
    public boolean connect() {
        SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        zyRgvConnectDriver = new ZyRgvConnectDriver(siemensS7Net, deviceConfig);
        new Thread(zyRgvConnectDriver).start();
        zyRgvConnectDriver = new ZyRgvConnectDriver(deviceConfig);
        zyRgvConnectDriver.start();
        DeviceConnectPool.put(SlaveType.Rgv, deviceConfig.getDeviceNo(), zyRgvConnectDriver);
        return true;
    }
@@ -112,7 +151,7 @@
            rgvProtocol.setLastCommandTime(System.currentTimeMillis());
        }

        if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > 200) {
        if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > deviceLogCollectTime) {
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(JSON.toJSONString(s));
            deviceDataLog.setWcsData(JSON.toJSONString(rgvProtocol));
@@ -122,11 +161,39 @@
            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
            rgvProtocol.setDeviceDataLog(System.currentTimeMillis());
        }

        BasRgvService basRgvService = null;
        try {
            basRgvService = SpringUtils.getBean(BasRgvService.class);
        } catch (Exception e) {

        }
        if (basRgvService != null) {
            BasRgv basRgv = basRgvService.selectOne(new EntityWrapper<BasRgv>().eq("rgv_no", deviceConfig.getDeviceNo()));
            if(basRgv == null) {
                basRgv = new BasRgv();
                basRgv.setRgvNo(deviceConfig.getDeviceNo());
                basRgv.setStatus(1);
                basRgv.setCreateTime(new Date());
                basRgvService.insert(basRgv);
            }
        }
    }

    @Override
    public void close() {
        zyRgvConnectDriver.close();
        closed = true;
        if (zyRgvConnectDriver != null) {
            zyRgvConnectDriver.close();
        }
        ScheduledExecutorService ex = readExecutor;
        if (ex != null) {
            try { ex.shutdownNow(); } catch (Exception ignore) {}
        }
        ScheduledExecutorService px = processExecutor;
        if (px != null) {
            try { px.shutdownNow(); } catch (Exception ignore) {}
        }
    }

    @Override
@@ -135,13 +202,25 @@
    }

    @Override
    public RgvCommand getTransportCommand(Integer taskNo, Integer rgvNo, Integer sourcePos, Integer targetPos) {
        RgvCommand cmd = new RgvCommand();
        cmd.setRgvNo(rgvNo);
        cmd.setTaskNo(taskNo);
        cmd.setTaskMode(RgvTaskModeType.FETCH_PUT.id);
        cmd.setSourcePos(sourcePos);
        cmd.setTargetPos(targetPos);
        cmd.setCommand(1);
        return cmd;
    }

    @Override
    public RgvCommand getMoveCommand(Integer taskNo, Integer rgvNo, Integer targetPos) {
        RgvCommand cmd = new RgvCommand();
        cmd.setRgvNo(rgvNo);
        cmd.setTaskNo(taskNo.shortValue());
        cmd.setTaskMode((short) 1);
        cmd.setTargetPos(targetPos.shortValue());
        cmd.setCommand((short) 1);
        cmd.setTaskNo(taskNo);
        cmd.setTaskMode(RgvTaskModeType.X_MOVE.id);
        cmd.setTargetPos(targetPos);
        cmd.setCommand(1);
        return cmd;
    }

@@ -149,16 +228,41 @@
    public RgvCommand getResetCommand(Integer rgvNo) {
        RgvCommand cmd = new RgvCommand();
        cmd.setRgvNo(rgvNo);
        cmd.setTaskNo((short) 0);
        cmd.setAckFinish((short) 1);
        cmd.setTaskMode((short) 0);
        cmd.setCommand((short) 1);
        cmd.setTaskNo(0);
        cmd.setAckFinish(1);
        cmd.setTaskMode(0);
        cmd.setCommand(1);
        return cmd;
    }

    @Override
    public synchronized CommandResponse sendCommand(RgvCommand command) {
        rgvProtocol.setLastCommandTime(System.currentTimeMillis());
        return zyRgvConnectDriver.sendCommand(command);
        CommandResponse response = null;
        try {
            response = zyRgvConnectDriver.sendCommand(command);
            return response;
        } finally {
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            ZyRgvStatusEntity statusEntity = zyRgvConnectDriver.getStatus();
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo(),
                    command.getRgvNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    String.valueOf(command.getSourcePos()),
                    String.valueOf(command.getTargetPos()),
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basRgvOpt);
            }
        }
    }
}
}